大規模複雑構造物点検のためのマルチUAV被覆経路計画
Multi-UAV Coverage Path Planning for the Inspection of Large and Complex Structures
大規模で複雑な3D構造物の点検を目的に、集合被覆問題と車両経路問題を組み合わせたマルチUAV被覆経路計画を定式化し、改良型BRKGAで解く手法を提案した。従来手法より点検経路長を最大48%短縮できる。
著者: Wei Jing, Di Deng, Yan Wu, Kenji Shimada
分類: cs.RO
原文アブストラクト
We present a multi-UAV Coverage Path Planning (CPP) framework for the inspection of large-scale, complex 3D structures. In the proposed sampling-based coverage path planning method, we formulate the multi-UAV inspection applications as a multi-agent coverage path planning problem. By combining two NP-hard problems: Set Covering Problem (SCP) and Vehicle Routing Problem (VRP), a Set-Covering Vehicle Routing Problem (SC-VRP) is formulated and subsequently solved by a modified Biased Random Key Genetic Algorithm (BRKGA) with novel, efficient encoding strategies and local improvement heuristics. We test our proposed method for several complex 3D structures with the 3D model extracted from OpenStreetMap. The proposed method outperforms previous methods, by reducing the length of the planned inspection path by up to 48%
関連論文
- 災害環境における航続時間制限付きマルチUAVカバレッジ計画マルチUAV経路計画
